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I am no expert by any means but have you checked the CV Boots for any leaks or splits in the boots? I would think when turning it could be a CV joint..
You might have a bad wheel bearing on one of you rear axles. When you turn it puts more of a side load on the bearing and could possibly make more noise than normal. Have you ever had the rears apart???
Make a hard 180 turn on pavement in a parking lot. Stop halfway thtough it, and get out and see if the rear axles are lined up/or not. You said from rear, but other things that cause that are broken engine mounts/trans/T-case mounts.
Your rear spring pivot bearings are easy to check. Just jack the truck up by the frame under the rear spring pivot point, enough to take all load off the leaf springs. Stick a pry bar in there and see if they have any play. Some guys have reported large amounts of play. Mine is a 54 and thank god both sides are tight as new!! A big nut in there torqued to some 800 ft lbs!
Mine groans a little on sharp curves on pavement. Off road it doesn't make noise. Everything looks fine. I wonder if it is just stress from the metal giving a little.